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undergraduate thesis
Planiranje trajektorije za presretanje objekta u 3D prostoru
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:301491
Španić, Matea
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Španić, M. (2019). Planiranje trajektorije za presretanje objekta u 3D prostoru (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:301491

Španić, Matea. "Planiranje trajektorije za presretanje objekta u 3D prostoru." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:301491

Španić, Matea. "Planiranje trajektorije za presretanje objekta u 3D prostoru." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:301491

Španić, M. (2019). 'Planiranje trajektorije za presretanje objekta u 3D prostoru', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:301491

Španić M. Planiranje trajektorije za presretanje objekta u 3D prostoru [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:301491

M. Španić, "Planiranje trajektorije za presretanje objekta u 3D prostoru", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:301491

Metadata
TitlePlaniranje trajektorije za presretanje objekta u 3D prostoru
Title (english)Trajectory planning for an object interception in 3D space
AuthorMatea Španić
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberFrano Petric (član povjerenstva)
Committee memberIvan Hrabar (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2019-07-12, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovome se radu obrad¯uje problem planiranja trajektorije za presretanje bespilotne letjelice. Gibanje letjelice putanjom oblika lemniskate simulirano je generiranjem toˇcaka u 3D prostoru. Parametri trajektorije i brzina letjelice estimiraju se u lokalnom koordinatnom sustavu lemniskate pa je prikazan naˇcin transformacije koordinata iz globalnog u lokalni koordinatni sustav. Na temelju previd¯anja buduc´ih položaja letjelice razvijen je algoritam koji izraˇcunava toˇcku presretanja. Letjelice i razvijeni algoritmi implementirani su u simulacijskom okruženju Gazebo te su prikazane komponente sustava presretanja i njihova med¯usobna komunikacija. Naposljetku, prac´eni su i analizirani i simulacije.
Abstract (english)
This thesis is concerned with the problem of calculating a trajectory to intercept an unmanned aerial vehicle. Movement of the vehicle to be intercepted is simulated as a lemniscate curve in a three-dimensional space. Trajectory parameters and the vehicle speed are estimated in the local coordinate system of the lemniscate curve. As a result, a transformation to a global system is provided. Furthermore, an algorithm to calculate an intercepting point was developed, taking into account future position projections of the vehicle. Simulation environment Gazebo is used to demonstrate intermediary communication of the interception system components. Finally, simulation results are aggregated and analyzed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:301491
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2020-01-07 22:30:53